Table 1 Dimensions of the original TRI-HFT, the 3D-printed TRI-HFT, and the modified 3D-printed TRI-HFT objects [16]

1

Mug

Size: 115 \(\times\) 245

Size: 115 \(\times\) 250

Size: 115 \(\times\) 156

Weight: 563.98

Weight: 554

Weight: 545

2

Paper

Size: 297 \(\times\) 210 \(\times\) 0.1

Size: 150 \(\times\) 150 \(\times\) 0.3

Size: 150 \(\times\) 150 \(\times\) 0.3

Weight: 0

Weight: 8

Weight: 14

3

Book

Size: 173 \(\times\) 105 \(\times\) 26

Size: 173 \(\times\) 105 \(\times\) 26

Size: 173 \(\times\) 105 \(\times\) 26

Weight: 315

Weight: 318

Weight: 316

4

Pencil

Size: 187 \(\times\) 5.9

Size: 190 \(\times\) 7

Size: 198 \(\times\) 6

Weight: 6

Weight: 6

Weight: 7

5

Zip lock bag

Size: 170 \(\times\) 200

Size: 170 \(\times\) 200

Size: 170 \(\times\) 200

With golf balls

Weight: 230 (46g per ball

Weight: 236 (39g per ball

Weight: 228 (38 per ball

\(\times\) 5 golf balls)

\(\times\) 6 golf balls)

\(\times\) 5 golf balls)

6

Sponge

Size: Isosceles triangle with

Size: Square 142 \(\times\) 142

Size: Square 142 \(\times\) 142

height 400 and base 200

Weight: 170

Weight: 161

Weight: 178

7

Die

Size: 15 \(\times\) 15 \(\times\) 15

Size: 16 \(\times\) 16 \(\times\) 16

Size: 16 \(\times\) 16 \(\times\) 16

Weight: 6

Weight: 4

Weight: 5

8

Rectangular blocks

Size: 115 \(\times\) 35 \(\times\) 35

Size: 100 \(\times\) 36 \(\times\) 36

Size: 115 \(\times\) 38 \(\times\) 38

Weight: 100/200/300

Weight: 100/200/296

Weight: 100/200/300

9

Wireless phone

Size: 144 \(\times\) 50 \(\times\) 25

Size: 145 \(\times\) 50 \(\times\) 35

Size: 145 \(\times\) 50 \(\times\) 36

Weight: 223

Weight: 222.3

Weight: 215

10

Soda can

Size: 120 \(\times\) 61

Size: 123 \(\times\) 66

Size: 123 \(\times\) 66

Weight: 350

Weight: 388

Weight: 360

11

Credit card

Size: 85 \(\times\) 53

Size: 86 \(\times\) 54

Size: 86 \(\times\) 54

Weight: 0

Weight: 4

Weight: 3